org.joml.Matrix4x3dc Maven / Gradle / Ivy
/*
* The MIT License
*
* Copyright (c) 2016-2020 JOML
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
package org.joml;
import java.nio.ByteBuffer;
import java.nio.DoubleBuffer;
import java.nio.FloatBuffer;
import java.util.*;
/**
* Interface to a read-only view of a 4x3 matrix of double-precision floats.
*
* @author Kai Burjack
*/
public interface Matrix4x3dc {
/**
* Argument to the first parameter of {@link #frustumPlane(int, Planed)}
* identifying the plane with equation x=-1 when using the identity matrix.
*/
int PLANE_NX = 0;
/**
* Argument to the first parameter of {@link #frustumPlane(int, Planed)}
* identifying the plane with equation x=1 when using the identity matrix.
*/
int PLANE_PX = 1;
/**
* Argument to the first parameter of {@link #frustumPlane(int, Planed)}
* identifying the plane with equation y=-1 when using the identity matrix.
*/
int PLANE_NY = 2;
/**
* Argument to the first parameter of {@link #frustumPlane(int, Planed)}
* identifying the plane with equation y=1 when using the identity matrix.
*/
int PLANE_PY = 3;
/**
* Argument to the first parameter of {@link #frustumPlane(int, Planed)}
* identifying the plane with equation z=-1 when using the identity matrix.
*/
int PLANE_NZ = 4;
/**
* Argument to the first parameter of {@link #frustumPlane(int, Planed)}
* identifying the plane with equation z=1 when using the identity matrix.
*/
int PLANE_PZ = 5;
/**
* Bit returned by {@link #properties()} to indicate that the matrix represents the identity transformation.
*/
byte PROPERTY_IDENTITY = 1<<2;
/**
* Bit returned by {@link #properties()} to indicate that the matrix represents a pure translation transformation.
*/
byte PROPERTY_TRANSLATION = 1<<3;
/**
* Bit returned by {@link #properties()} to indicate that the left 3x3 submatrix represents an orthogonal
* matrix (i.e. orthonormal basis).
*/
byte PROPERTY_ORTHONORMAL = 1<<4;
/**
* @return the properties of the matrix
*/
int properties();
/**
* Return the value of the matrix element at column 0 and row 0.
*
* @return the value of the matrix element
*/
double m00();
/**
* Return the value of the matrix element at column 0 and row 1.
*
* @return the value of the matrix element
*/
double m01();
/**
* Return the value of the matrix element at column 0 and row 2.
*
* @return the value of the matrix element
*/
double m02();
/**
* Return the value of the matrix element at column 1 and row 0.
*
* @return the value of the matrix element
*/
double m10();
/**
* Return the value of the matrix element at column 1 and row 1.
*
* @return the value of the matrix element
*/
double m11();
/**
* Return the value of the matrix element at column 1 and row 2.
*
* @return the value of the matrix element
*/
double m12();
/**
* Return the value of the matrix element at column 2 and row 0.
*
* @return the value of the matrix element
*/
double m20();
/**
* Return the value of the matrix element at column 2 and row 1.
*
* @return the value of the matrix element
*/
double m21();
/**
* Return the value of the matrix element at column 2 and row 2.
*
* @return the value of the matrix element
*/
double m22();
/**
* Return the value of the matrix element at column 3 and row 0.
*
* @return the value of the matrix element
*/
double m30();
/**
* Return the value of the matrix element at column 3 and row 1.
*
* @return the value of the matrix element
*/
double m31();
/**
* Return the value of the matrix element at column 3 and row 2.
*
* @return the value of the matrix element
*/
double m32();
/**
* Get the current values of this matrix and store them into the upper 4x3 submatrix of dest.
*
* The other elements of dest will not be modified.
*
* @see Matrix4d#set4x3(Matrix4x3dc)
*
* @param dest
* the destination matrix
* @return dest
*/
Matrix4d get(Matrix4d dest);
/**
* Multiply this matrix by the supplied right matrix and store the result in dest.
*
* If M is this matrix and R the right matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the multiplication
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d mul(Matrix4x3dc right, Matrix4x3d dest);
/**
* Multiply this matrix by the supplied right matrix and store the result in dest.
*
* If M is this matrix and R the right matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the multiplication
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d mul(Matrix4x3fc right, Matrix4x3d dest);
/**
* Multiply this matrix, which is assumed to only contain a translation, by the supplied right matrix and store the result in dest.
*
* This method assumes that this matrix only contains a translation.
*
* This method will not modify either the last row of this or the last row of right.
*
* If M is this matrix and R the right matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the matrix multiplication
* @param dest
* the destination matrix, which will hold the result
* @return dest
*/
Matrix4x3d mulTranslation(Matrix4x3dc right, Matrix4x3d dest);
/**
* Multiply this matrix, which is assumed to only contain a translation, by the supplied right matrix and store the result in dest.
*
* This method assumes that this matrix only contains a translation.
*
* This method will not modify either the last row of this or the last row of right.
*
* If M is this matrix and R the right matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* transformation of the right matrix will be applied first!
*
* @param right
* the right operand of the matrix multiplication
* @param dest
* the destination matrix, which will hold the result
* @return dest
*/
Matrix4x3d mulTranslation(Matrix4x3fc right, Matrix4x3d dest);
/**
* Multiply this orthographic projection matrix by the supplied view matrix
* and store the result in dest.
*
* If M is this matrix and V the view matrix,
* then the new matrix will be M * V. So when transforming a
* vector v with the new matrix by using M * V * v, the
* transformation of the view matrix will be applied first!
*
* @param view
* the matrix which to multiply this with
* @param dest
* the destination matrix, which will hold the result
* @return dest
*/
Matrix4x3d mulOrtho(Matrix4x3dc view, Matrix4x3d dest);
/**
* Component-wise add this and other
* by first multiplying each component of other by otherFactor,
* adding that to this and storing the final result in dest.
*
* The other components of dest will be set to the ones of this.
*
* The matrices this and other will not be changed.
*
* @param other
* the other matrix
* @param otherFactor
* the factor to multiply each of the other matrix's components
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d fma(Matrix4x3dc other, double otherFactor, Matrix4x3d dest);
/**
* Component-wise add this and other
* by first multiplying each component of other by otherFactor,
* adding that to this and storing the final result in dest.
*
* The other components of dest will be set to the ones of this.
*
* The matrices this and other will not be changed.
*
* @param other
* the other matrix
* @param otherFactor
* the factor to multiply each of the other matrix's components
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d fma(Matrix4x3fc other, double otherFactor, Matrix4x3d dest);
/**
* Component-wise add this and other and store the result in dest.
*
* @param other
* the other addend
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d add(Matrix4x3dc other, Matrix4x3d dest);
/**
* Component-wise add this and other and store the result in dest.
*
* @param other
* the other addend
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d add(Matrix4x3fc other, Matrix4x3d dest);
/**
* Component-wise subtract subtrahend from this and store the result in dest.
*
* @param subtrahend
* the subtrahend
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d sub(Matrix4x3dc subtrahend, Matrix4x3d dest);
/**
* Component-wise subtract subtrahend from this and store the result in dest.
*
* @param subtrahend
* the subtrahend
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d sub(Matrix4x3fc subtrahend, Matrix4x3d dest);
/**
* Component-wise multiply this by other and store the result in dest.
*
* @param other
* the other matrix
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d mulComponentWise(Matrix4x3dc other, Matrix4x3d dest);
/**
* Return the determinant of this matrix.
*
* @return the determinant
*/
double determinant();
/**
* Invert this matrix and store the result in dest.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d invert(Matrix4x3d dest);
/**
* Invert this orthographic projection matrix and store the result into the given dest.
*
* This method can be used to quickly obtain the inverse of an orthographic projection matrix.
*
* @param dest
* will hold the inverse of this
* @return dest
*/
Matrix4x3d invertOrtho(Matrix4x3d dest);
/**
* Transpose only the left 3x3 submatrix of this matrix and store the result in dest.
*
* All other matrix elements are left unchanged.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d transpose3x3(Matrix4x3d dest);
/**
* Transpose only the left 3x3 submatrix of this matrix and store the result in dest.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3d transpose3x3(Matrix3d dest);
/**
* Get only the translation components (m30, m31, m32) of this matrix and store them in the given vector xyz.
*
* @param dest
* will hold the translation components of this matrix
* @return dest
*/
Vector3d getTranslation(Vector3d dest);
/**
* Get the scaling factors of this matrix for the three base axes.
*
* @param dest
* will hold the scaling factors for x, y and z
* @return dest
*/
Vector3d getScale(Vector3d dest);
/**
* Get the current values of this matrix and store them into
* dest.
*
* @param dest
* the destination matrix
* @return the passed in destination
*/
Matrix4x3d get(Matrix4x3d dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaternionf}.
*
* This method assumes that the first three column vectors of the left 3x3 submatrix are not normalized and
* thus allows to ignore any additional scaling factor that is applied to the matrix.
*
* @see Quaternionf#setFromUnnormalized(Matrix4x3dc)
*
* @param dest
* the destination {@link Quaternionf}
* @return the passed in destination
*/
Quaternionf getUnnormalizedRotation(Quaternionf dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaternionf}.
*
* This method assumes that the first three column vectors of the left 3x3 submatrix are normalized.
*
* @see Quaternionf#setFromNormalized(Matrix4x3dc)
*
* @param dest
* the destination {@link Quaternionf}
* @return the passed in destination
*/
Quaternionf getNormalizedRotation(Quaternionf dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaterniond}.
*
* This method assumes that the first three column vectors of the left 3x3 submatrix are not normalized and
* thus allows to ignore any additional scaling factor that is applied to the matrix.
*
* @see Quaterniond#setFromUnnormalized(Matrix4x3dc)
*
* @param dest
* the destination {@link Quaterniond}
* @return the passed in destination
*/
Quaterniond getUnnormalizedRotation(Quaterniond dest);
/**
* Get the current values of this matrix and store the represented rotation
* into the given {@link Quaterniond}.
*
* This method assumes that the first three column vectors of the left 3x3 submatrix are normalized.
*
* @see Quaterniond#setFromNormalized(Matrix4x3dc)
*
* @param dest
* the destination {@link Quaterniond}
* @return the passed in destination
*/
Quaterniond getNormalizedRotation(Quaterniond dest);
/**
* Store this matrix in column-major order into the supplied {@link DoubleBuffer} at the current
* buffer {@link DoubleBuffer#position() position}.
*
* This method will not increment the position of the given DoubleBuffer.
*
* In order to specify the offset into the DoubleBuffer at which
* the matrix is stored, use {@link #get(int, DoubleBuffer)}, taking
* the absolute position as parameter.
*
* @see #get(int, DoubleBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
DoubleBuffer get(DoubleBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link DoubleBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given {@link DoubleBuffer}.
*
* @param index
* the absolute position into the {@link DoubleBuffer}
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
DoubleBuffer get(int index, DoubleBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link FloatBuffer} at the current
* buffer {@link FloatBuffer#position() position}.
*
* This method will not increment the position of the given
* FloatBuffer.
*
* In order to specify the offset into the FloatBuffer at which
* the matrix is stored, use {@link #get(int, FloatBuffer)}, taking
* the absolute position as parameter.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given FloatBuffer.
*
* @see #get(int, FloatBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
FloatBuffer get(FloatBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link FloatBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given FloatBuffer.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given FloatBuffer.
*
* @param index
* the absolute position into the FloatBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
FloatBuffer get(int index, FloatBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link ByteBuffer} at the current
* buffer {@link ByteBuffer#position() position}.
*
* This method will not increment the position of the given ByteBuffer.
*
* In order to specify the offset into the ByteBuffer at which
* the matrix is stored, use {@link #get(int, ByteBuffer)}, taking
* the absolute position as parameter.
*
* @see #get(int, ByteBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
ByteBuffer get(ByteBuffer buffer);
/**
* Store this matrix in column-major order into the supplied {@link ByteBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given ByteBuffer.
*
* @param index
* the absolute position into the ByteBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
ByteBuffer get(int index, ByteBuffer buffer);
/**
* Store the elements of this matrix as float values in column-major order into the supplied {@link ByteBuffer} at the current
* buffer {@link ByteBuffer#position() position}.
*
* This method will not increment the position of the given ByteBuffer.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given ByteBuffer.
*
* In order to specify the offset into the ByteBuffer at which
* the matrix is stored, use {@link #getFloats(int, ByteBuffer)}, taking
* the absolute position as parameter.
*
* @see #getFloats(int, ByteBuffer)
*
* @param buffer
* will receive the elements of this matrix as float values in column-major order at its current position
* @return the passed in buffer
*/
ByteBuffer getFloats(ByteBuffer buffer);
/**
* Store the elements of this matrix as float values in column-major order into the supplied {@link ByteBuffer}
* starting at the specified absolute buffer position/index.
*
* This method will not increment the position of the given ByteBuffer.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given ByteBuffer.
*
* @param index
* the absolute position into the ByteBuffer
* @param buffer
* will receive the elements of this matrix as float values in column-major order
* @return the passed in buffer
*/
ByteBuffer getFloats(int index, ByteBuffer buffer);
/**
* Store this matrix in column-major order at the given off-heap address.
*
* This method will throw an {@link UnsupportedOperationException} when JOML is used with `-Djoml.nounsafe`.
*
* This method is unsafe as it can result in a crash of the JVM process when the specified address range does not belong to this process.
*
* @param address
* the off-heap address where to store this matrix
* @return this
*/
Matrix4x3dc getToAddress(long address);
/**
* Store this matrix into the supplied double array in column-major order at the given offset.
*
* @param arr
* the array to write the matrix values into
* @param offset
* the offset into the array
* @return the passed in array
*/
double[] get(double[] arr, int offset);
/**
* Store this matrix into the supplied double array in column-major order.
*
* In order to specify an explicit offset into the array, use the method {@link #get(double[], int)}.
*
* @see #get(double[], int)
*
* @param arr
* the array to write the matrix values into
* @return the passed in array
*/
double[] get(double[] arr);
/**
* Store the elements of this matrix as float values in column-major order into the supplied float array at the given offset.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given float array.
*
* @param arr
* the array to write the matrix values into
* @param offset
* the offset into the array
* @return the passed in array
*/
float[] get(float[] arr, int offset);
/**
* Store the elements of this matrix as float values in column-major order into the supplied float array.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given float array.
*
* In order to specify an explicit offset into the array, use the method {@link #get(float[], int)}.
*
* @see #get(float[], int)
*
* @param arr
* the array to write the matrix values into
* @return the passed in array
*/
float[] get(float[] arr);
/**
* Store a 4x4 matrix in column-major order into the supplied array at the given offset,
* where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* @param arr
* the array to write the matrix values into
* @param offset
* the offset into the array
* @return the passed in array
*/
double[] get4x4(double[] arr, int offset);
/**
* Store a 4x4 matrix in column-major order into the supplied array,
* where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* In order to specify an explicit offset into the array, use the method {@link #get4x4(double[], int)}.
*
* @see #get4x4(double[], int)
*
* @param arr
* the array to write the matrix values into
* @return the passed in array
*/
double[] get4x4(double[] arr);
/**
* Store a 4x4 matrix in column-major order into the supplied array at the given offset,
* where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given float array.
*
* @param arr
* the array to write the matrix values into
* @param offset
* the offset into the array
* @return the passed in array
*/
float[] get4x4(float[] arr, int offset);
/**
* Store a 4x4 matrix in column-major order into the supplied array,
* where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given float array.
*
* In order to specify an explicit offset into the array, use the method {@link #get4x4(float[], int)}.
*
* @see #get4x4(float[], int)
*
* @param arr
* the array to write the matrix values into
* @return the passed in array
*/
float[] get4x4(float[] arr);
/**
* Store a 4x4 matrix in column-major order into the supplied {@link DoubleBuffer} at the current
* buffer {@link DoubleBuffer#position() position}, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* This method will not increment the position of the given DoubleBuffer.
*
* In order to specify the offset into the DoubleBuffer at which
* the matrix is stored, use {@link #get4x4(int, DoubleBuffer)}, taking
* the absolute position as parameter.
*
* @see #get4x4(int, DoubleBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
DoubleBuffer get4x4(DoubleBuffer buffer);
/**
* Store a 4x4 matrix in column-major order into the supplied {@link DoubleBuffer} starting at the specified
* absolute buffer position/index, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* This method will not increment the position of the given DoubleBuffer.
*
* @param index
* the absolute position into the DoubleBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
DoubleBuffer get4x4(int index, DoubleBuffer buffer);
/**
* Store a 4x4 matrix in column-major order into the supplied {@link ByteBuffer} at the current
* buffer {@link ByteBuffer#position() position}, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* This method will not increment the position of the given ByteBuffer.
*
* In order to specify the offset into the ByteBuffer at which
* the matrix is stored, use {@link #get4x4(int, ByteBuffer)}, taking
* the absolute position as parameter.
*
* @see #get4x4(int, ByteBuffer)
*
* @param buffer
* will receive the values of this matrix in column-major order at its current position
* @return the passed in buffer
*/
ByteBuffer get4x4(ByteBuffer buffer);
/**
* Store a 4x4 matrix in column-major order into the supplied {@link ByteBuffer} starting at the specified
* absolute buffer position/index, where the upper 4x3 submatrix is this and the last row is (0, 0, 0, 1).
*
* This method will not increment the position of the given ByteBuffer.
*
* @param index
* the absolute position into the ByteBuffer
* @param buffer
* will receive the values of this matrix in column-major order
* @return the passed in buffer
*/
ByteBuffer get4x4(int index, ByteBuffer buffer);
/**
* Store this matrix in row-major order into the supplied {@link DoubleBuffer} at the current
* buffer {@link DoubleBuffer#position() position}.
*
* This method will not increment the position of the given DoubleBuffer.
*
* In order to specify the offset into the DoubleBuffer at which
* the matrix is stored, use {@link #getTransposed(int, DoubleBuffer)}, taking
* the absolute position as parameter.
*
* @see #getTransposed(int, DoubleBuffer)
*
* @param buffer
* will receive the values of this matrix in row-major order at its current position
* @return the passed in buffer
*/
DoubleBuffer getTransposed(DoubleBuffer buffer);
/**
* Store this matrix in row-major order into the supplied {@link DoubleBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given DoubleBuffer.
*
* @param index
* the absolute position into the DoubleBuffer
* @param buffer
* will receive the values of this matrix in row-major order
* @return the passed in buffer
*/
DoubleBuffer getTransposed(int index, DoubleBuffer buffer);
/**
* Store this matrix in row-major order into the supplied {@link ByteBuffer} at the current
* buffer {@link ByteBuffer#position() position}.
*
* This method will not increment the position of the given ByteBuffer.
*
* In order to specify the offset into the ByteBuffer at which
* the matrix is stored, use {@link #getTransposed(int, ByteBuffer)}, taking
* the absolute position as parameter.
*
* @see #getTransposed(int, ByteBuffer)
*
* @param buffer
* will receive the values of this matrix in row-major order at its current position
* @return the passed in buffer
*/
ByteBuffer getTransposed(ByteBuffer buffer);
/**
* Store this matrix in row-major order into the supplied {@link ByteBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given ByteBuffer.
*
* @param index
* the absolute position into the ByteBuffer
* @param buffer
* will receive the values of this matrix in row-major order
* @return the passed in buffer
*/
ByteBuffer getTransposed(int index, ByteBuffer buffer);
/**
* Store this matrix in row-major order into the supplied {@link FloatBuffer} at the current
* buffer {@link FloatBuffer#position() position}.
*
* This method will not increment the position of the given FloatBuffer.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given FloatBuffer.
*
* In order to specify the offset into the FloatBuffer at which
* the matrix is stored, use {@link #getTransposed(int, FloatBuffer)}, taking
* the absolute position as parameter.
*
* @see #getTransposed(int, FloatBuffer)
*
* @param buffer
* will receive the values of this matrix in row-major order at its current position
* @return the passed in buffer
*/
FloatBuffer getTransposed(FloatBuffer buffer);
/**
* Store this matrix in row-major order into the supplied {@link FloatBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given FloatBuffer.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given FloatBuffer.
*
* @param index
* the absolute position into the FloatBuffer
* @param buffer
* will receive the values of this matrix in row-major order
* @return the passed in buffer
*/
FloatBuffer getTransposed(int index, FloatBuffer buffer);
/**
* Store this matrix as float values in row-major order into the supplied {@link ByteBuffer} at the current
* buffer {@link ByteBuffer#position() position}.
*
* This method will not increment the position of the given ByteBuffer.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given FloatBuffer.
*
* In order to specify the offset into the ByteBuffer at which
* the matrix is stored, use {@link #getTransposedFloats(int, ByteBuffer)}, taking
* the absolute position as parameter.
*
* @see #getTransposedFloats(int, ByteBuffer)
*
* @param buffer
* will receive the values of this matrix as float values in row-major order at its current position
* @return the passed in buffer
*/
ByteBuffer getTransposedFloats(ByteBuffer buffer);
/**
* Store this matrix in row-major order into the supplied {@link ByteBuffer} starting at the specified
* absolute buffer position/index.
*
* This method will not increment the position of the given ByteBuffer.
*
* Please note that due to this matrix storing double values those values will potentially
* lose precision when they are converted to float values before being put into the given FloatBuffer.
*
* @param index
* the absolute position into the ByteBuffer
* @param buffer
* will receive the values of this matrix as float values in row-major order
* @return the passed in buffer
*/
ByteBuffer getTransposedFloats(int index, ByteBuffer buffer);
/**
* Store this matrix into the supplied float array in row-major order at the given offset.
*
* @param arr
* the array to write the matrix values into
* @param offset
* the offset into the array
* @return the passed in array
*/
double[] getTransposed(double[] arr, int offset);
/**
* Store this matrix into the supplied float array in row-major order.
*
* In order to specify an explicit offset into the array, use the method {@link #getTransposed(double[], int)}.
*
* @see #getTransposed(double[], int)
*
* @param arr
* the array to write the matrix values into
* @return the passed in array
*/
double[] getTransposed(double[] arr);
/**
* Transform/multiply the given vector by this matrix and store the result in that vector.
*
* @see Vector4d#mul(Matrix4x3dc)
*
* @param v
* the vector to transform and to hold the final result
* @return v
*/
Vector4d transform(Vector4d v);
/**
* Transform/multiply the given vector by this matrix and store the result in dest.
*
* @see Vector4d#mul(Matrix4x3dc, Vector4d)
*
* @param v
* the vector to transform
* @param dest
* will contain the result
* @return dest
*/
Vector4d transform(Vector4dc v, Vector4d dest);
/**
* Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=1, by
* this matrix and store the result in that vector.
*
* The given 3D-vector is treated as a 4D-vector with its w-component being 1.0, so it
* will represent a position/location in 3D-space rather than a direction.
*
* In order to store the result in another vector, use {@link #transformPosition(Vector3dc, Vector3d)}.
*
* @see #transformPosition(Vector3dc, Vector3d)
* @see #transform(Vector4d)
*
* @param v
* the vector to transform and to hold the final result
* @return v
*/
Vector3d transformPosition(Vector3d v);
/**
* Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=1, by
* this matrix and store the result in dest.
*
* The given 3D-vector is treated as a 4D-vector with its w-component being 1.0, so it
* will represent a position/location in 3D-space rather than a direction.
*
* In order to store the result in the same vector, use {@link #transformPosition(Vector3d)}.
*
* @see #transformPosition(Vector3d)
* @see #transform(Vector4dc, Vector4d)
*
* @param v
* the vector to transform
* @param dest
* will hold the result
* @return dest
*/
Vector3d transformPosition(Vector3dc v, Vector3d dest);
/**
* Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by
* this matrix and store the result in that vector.
*
* The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it
* will represent a direction in 3D-space rather than a position. This method will therefore
* not take the translation part of the matrix into account.
*
* In order to store the result in another vector, use {@link #transformDirection(Vector3dc, Vector3d)}.
*
* @param v
* the vector to transform and to hold the final result
* @return v
*/
Vector3d transformDirection(Vector3d v);
/**
* Transform/multiply the given 3D-vector, as if it was a 4D-vector with w=0, by
* this matrix and store the result in dest.
*
* The given 3D-vector is treated as a 4D-vector with its w-component being 0.0, so it
* will represent a direction in 3D-space rather than a position. This method will therefore
* not take the translation part of the matrix into account.
*
* In order to store the result in the same vector, use {@link #transformDirection(Vector3d)}.
*
* @param v
* the vector to transform and to hold the final result
* @param dest
* will hold the result
* @return dest
*/
Vector3d transformDirection(Vector3dc v, Vector3d dest);
/**
* Apply scaling to this matrix by scaling the base axes by the given xyz.x,
* xyz.y and xyz.z factors, respectively and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v
* , the scaling will be applied first!
*
* @param xyz
* the factors of the x, y and z component, respectively
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d scale(Vector3dc xyz, Matrix4x3d dest);
/**
* Apply scaling to this matrix by scaling the base axes by the given x,
* y and z factors and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v
* , the scaling will be applied first!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param z
* the factor of the z component
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d scale(double x, double y, double z, Matrix4x3d dest);
/**
* Apply scaling to this matrix by uniformly scaling all base axes by the given xyz factor
* and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v
* , the scaling will be applied first!
*
* @see #scale(double, double, double, Matrix4x3d)
*
* @param xyz
* the factor for all components
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d scale(double xyz, Matrix4x3d dest);
/**
* Apply scaling to this matrix by by scaling the X axis by x and the Y axis by y
* and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* scaling will be applied first!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d scaleXY(double x, double y, Matrix4x3d dest);
/**
* Pre-multiply scaling to this matrix by scaling the base axes by the given x,
* y and z factors and store the result in dest.
*
* If M is this matrix and S the scaling matrix,
* then the new matrix will be S * M. So when transforming a
* vector v with the new matrix by using S * M * v
* , the scaling will be applied last!
*
* @param x
* the factor of the x component
* @param y
* the factor of the y component
* @param z
* the factor of the z component
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d scaleLocal(double x, double y, double z, Matrix4x3d dest);
/**
* Apply rotation to this matrix by rotating the given amount of radians
* about the given axis specified as x, y and z components and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v
* , the rotation will be applied first!
*
* @param ang
* the angle is in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotate(double ang, double x, double y, double z, Matrix4x3d dest);
/**
* Apply rotation to this matrix, which is assumed to only contain a translation, by rotating the given amount of radians
* about the specified (x, y, z) axis and store the result in dest.
*
* This method assumes this to only contain a translation.
*
* The axis described by the three components needs to be a unit vector.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateTranslation(double ang, double x, double y, double z, Matrix4x3d dest);
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaterniondc} to this matrix while using (ox, oy, oz) as the rotation origin,
* and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be M * Q. So when transforming a
* vector v with the new matrix by using M * Q * v,
* the quaternion rotation will be applied first!
*
* This method is equivalent to calling: translate(ox, oy, oz, dest).rotate(quat).translate(-ox, -oy, -oz)
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaterniondc}
* @param ox
* the x coordinate of the rotation origin
* @param oy
* the y coordinate of the rotation origin
* @param oz
* the z coordinate of the rotation origin
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateAround(Quaterniondc quat, double ox, double oy, double oz, Matrix4x3d dest);
/**
* Pre-multiply a rotation to this matrix by rotating the given amount of radians
* about the specified (x, y, z) axis and store the result in dest.
*
* The axis described by the three components needs to be a unit vector.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be R * M. So when transforming a
* vector v with the new matrix by using R * M * v, the
* rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param x
* the x component of the axis
* @param y
* the y component of the axis
* @param z
* the z component of the axis
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateLocal(double ang, double x, double y, double z, Matrix4x3d dest);
/**
* Apply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be M * T. So when
* transforming a vector v with the new matrix by using
* M * T * v, the translation will be applied first!
*
* @param offset
* the number of units in x, y and z by which to translate
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d translate(Vector3dc offset, Matrix4x3d dest);
/**
* Apply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be M * T. So when
* transforming a vector v with the new matrix by using
* M * T * v, the translation will be applied first!
*
* @param offset
* the number of units in x, y and z by which to translate
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d translate(Vector3fc offset, Matrix4x3d dest);
/**
* Apply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be M * T. So when
* transforming a vector v with the new matrix by using
* M * T * v, the translation will be applied first!
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d translate(double x, double y, double z, Matrix4x3d dest);
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be T * M. So when
* transforming a vector v with the new matrix by using
* T * M * v, the translation will be applied last!
*
* @param offset
* the number of units in x, y and z by which to translate
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d translateLocal(Vector3fc offset, Matrix4x3d dest);
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be T * M. So when
* transforming a vector v with the new matrix by using
* T * M * v, the translation will be applied last!
*
* @param offset
* the number of units in x, y and z by which to translate
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d translateLocal(Vector3dc offset, Matrix4x3d dest);
/**
* Pre-multiply a translation to this matrix by translating by the given number of
* units in x, y and z and store the result in dest.
*
* If M is this matrix and T the translation
* matrix, then the new matrix will be T * M. So when
* transforming a vector v with the new matrix by using
* T * M * v, the translation will be applied last!
*
* @param x
* the offset to translate in x
* @param y
* the offset to translate in y
* @param z
* the offset to translate in z
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d translateLocal(double x, double y, double z, Matrix4x3d dest);
/**
* Apply rotation about the X axis to this matrix by rotating the given amount of radians
* and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateX(double ang, Matrix4x3d dest);
/**
* Apply rotation about the Y axis to this matrix by rotating the given amount of radians
* and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateY(double ang, Matrix4x3d dest);
/**
* Apply rotation about the Z axis to this matrix by rotating the given amount of radians
* and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param ang
* the angle in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateZ(double ang, Matrix4x3d dest);
/**
* Apply rotation of angleX radians about the X axis, followed by a rotation of angleY radians about the Y axis and
* followed by a rotation of angleZ radians about the Z axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* This method is equivalent to calling: rotateX(angleX, dest).rotateY(angleY).rotateZ(angleZ)
*
* @param angleX
* the angle to rotate about X
* @param angleY
* the angle to rotate about Y
* @param angleZ
* the angle to rotate about Z
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateXYZ(double angleX, double angleY, double angleZ, Matrix4x3d dest);
/**
* Apply rotation of angleZ radians about the Z axis, followed by a rotation of angleY radians about the Y axis and
* followed by a rotation of angleX radians about the X axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* This method is equivalent to calling: rotateZ(angleZ, dest).rotateY(angleY).rotateX(angleX)
*
* @param angleZ
* the angle to rotate about Z
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateZYX(double angleZ, double angleY, double angleX, Matrix4x3d dest);
/**
* Apply rotation of angleY radians about the Y axis, followed by a rotation of angleX radians about the X axis and
* followed by a rotation of angleZ radians about the Z axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and R the rotation matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* rotation will be applied first!
*
* This method is equivalent to calling: rotateY(angleY, dest).rotateX(angleX).rotateZ(angleZ)
*
* @param angleY
* the angle to rotate about Y
* @param angleX
* the angle to rotate about X
* @param angleZ
* the angle to rotate about Z
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateYXZ(double angleY, double angleX, double angleZ, Matrix4x3d dest);
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaterniondc} to this matrix and store
* the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be M * Q. So when transforming a
* vector v with the new matrix by using M * Q * v,
* the quaternion rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaterniondc}
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotate(Quaterniondc quat, Matrix4x3d dest);
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
* the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be M * Q. So when transforming a
* vector v with the new matrix by using M * Q * v,
* the quaternion rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotate(Quaternionfc quat, Matrix4x3d dest);
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaterniondc} to this matrix, which is assumed to only contain a translation, and store
* the result in dest.
*
* This method assumes this to only contain a translation.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be M * Q. So when transforming a
* vector v with the new matrix by using M * Q * v,
* the quaternion rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaterniondc}
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateTranslation(Quaterniondc quat, Matrix4x3d dest);
/**
* Apply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix, which is assumed to only contain a translation, and store
* the result in dest.
*
* This method assumes this to only contain a translation.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be M * Q. So when transforming a
* vector v with the new matrix by using M * Q * v,
* the quaternion rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateTranslation(Quaternionfc quat, Matrix4x3d dest);
/**
* Pre-multiply the rotation - and possibly scaling - transformation of the given {@link Quaterniondc} to this matrix and store
* the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be Q * M. So when transforming a
* vector v with the new matrix by using Q * M * v,
* the quaternion rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaterniondc}
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateLocal(Quaterniondc quat, Matrix4x3d dest);
/**
* Pre-multiply the rotation - and possibly scaling - transformation of the given {@link Quaternionfc} to this matrix and store
* the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and Q the rotation matrix obtained from the given quaternion,
* then the new matrix will be Q * M. So when transforming a
* vector v with the new matrix by using Q * M * v,
* the quaternion rotation will be applied last!
*
* Reference: http://en.wikipedia.org
*
* @param quat
* the {@link Quaternionfc}
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateLocal(Quaternionfc quat, Matrix4x3d dest);
/**
* Apply a rotation transformation, rotating about the given {@link AxisAngle4f} and store the result in dest.
*
* The axis described by the axis vector needs to be a unit vector.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and A the rotation matrix obtained from the given {@link AxisAngle4f},
* then the new matrix will be M * A. So when transforming a
* vector v with the new matrix by using M * A * v,
* the {@link AxisAngle4f} rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @see #rotate(double, double, double, double, Matrix4x3d)
*
* @param axisAngle
* the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotate(AxisAngle4f axisAngle, Matrix4x3d dest);
/**
* Apply a rotation transformation, rotating about the given {@link AxisAngle4d} and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and A the rotation matrix obtained from the given {@link AxisAngle4d},
* then the new matrix will be M * A. So when transforming a
* vector v with the new matrix by using M * A * v,
* the {@link AxisAngle4d} rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @see #rotate(double, double, double, double, Matrix4x3d)
*
* @param axisAngle
* the {@link AxisAngle4d} (needs to be {@link AxisAngle4d#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotate(AxisAngle4d axisAngle, Matrix4x3d dest);
/**
* Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and A the rotation matrix obtained from the given angle and axis,
* then the new matrix will be M * A. So when transforming a
* vector v with the new matrix by using M * A * v,
* the axis-angle rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @see #rotate(double, double, double, double, Matrix4x3d)
*
* @param angle
* the angle in radians
* @param axis
* the rotation axis (needs to be {@link Vector3d#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotate(double angle, Vector3dc axis, Matrix4x3d dest);
/**
* Apply a rotation transformation, rotating the given radians about the specified axis and store the result in dest.
*
* When used with a right-handed coordinate system, the produced rotation will rotate a vector
* counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
* When used with a left-handed coordinate system, the rotation is clockwise.
*
* If M is this matrix and A the rotation matrix obtained from the given angle and axis,
* then the new matrix will be M * A. So when transforming a
* vector v with the new matrix by using M * A * v,
* the axis-angle rotation will be applied first!
*
* Reference: http://en.wikipedia.org
*
* @see #rotate(double, double, double, double, Matrix4x3d)
*
* @param angle
* the angle in radians
* @param axis
* the rotation axis (needs to be {@link Vector3f#normalize() normalized})
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotate(double angle, Vector3fc axis, Matrix4x3d dest);
/**
* Get the row at the given row index, starting with 0.
*
* @param row
* the row index in [0..2]
* @param dest
* will hold the row components
* @return the passed in destination
* @throws IndexOutOfBoundsException if row is not in [0..2]
*/
Vector4d getRow(int row, Vector4d dest) throws IndexOutOfBoundsException;
/**
* Get the column at the given column index, starting with 0.
*
* @param column
* the column index in [0..3]
* @param dest
* will hold the column components
* @return the passed in destination
* @throws IndexOutOfBoundsException if column is not in [0..3]
*/
Vector3d getColumn(int column, Vector3d dest) throws IndexOutOfBoundsException;
/**
* Compute a normal matrix from the left 3x3 submatrix of this
* and store it into the left 3x3 submatrix of dest.
* All other values of dest will be set to identity.
*
* The normal matrix of m is the transpose of the inverse of m.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d normal(Matrix4x3d dest);
/**
* Compute a normal matrix from the left 3x3 submatrix of this
* and store it into dest.
*
* The normal matrix of m is the transpose of the inverse of m.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3d normal(Matrix3d dest);
/**
* Compute the cofactor matrix of the left 3x3 submatrix of this
* and store it into dest.
*
* The cofactor matrix can be used instead of {@link #normal(Matrix3d)} to transform normals
* when the orientation of the normals with respect to the surface should be preserved.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3d cofactor3x3(Matrix3d dest);
/**
* Compute the cofactor matrix of the left 3x3 submatrix of this
* and store it into dest.
* All other values of dest will be set to identity.
*
* The cofactor matrix can be used instead of {@link #normal(Matrix4x3d)} to transform normals
* when the orientation of the normals with respect to the surface should be preserved.
*
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d cofactor3x3(Matrix4x3d dest);
/**
* Normalize the left 3x3 submatrix of this matrix and store the result in dest.
*
* The resulting matrix will map unit vectors to unit vectors, though a pair of orthogonal input unit
* vectors need not be mapped to a pair of orthogonal output vectors if the original matrix was not orthogonal itself
* (i.e. had skewing).
*
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d normalize3x3(Matrix4x3d dest);
/**
* Normalize the left 3x3 submatrix of this matrix and store the result in dest.
*
* The resulting matrix will map unit vectors to unit vectors, though a pair of orthogonal input unit
* vectors need not be mapped to a pair of orthogonal output vectors if the original matrix was not orthogonal itself
* (i.e. had skewing).
*
* @param dest
* will hold the result
* @return dest
*/
Matrix3d normalize3x3(Matrix3d dest);
/**
* Apply a mirror/reflection transformation to this matrix that reflects about the given plane
* specified via the equation x*a + y*b + z*c + d = 0 and store the result in dest.
*
* The vector (a, b, c) must be a unit vector.
*
* If M is this matrix and R the reflection matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* reflection will be applied first!
*
* Reference: msdn.microsoft.com
*
* @param a
* the x factor in the plane equation
* @param b
* the y factor in the plane equation
* @param c
* the z factor in the plane equation
* @param d
* the constant in the plane equation
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d reflect(double a, double b, double c, double d, Matrix4x3d dest);
/**
* Apply a mirror/reflection transformation to this matrix that reflects about the given plane
* specified via the plane normal and a point on the plane, and store the result in dest.
*
* If M is this matrix and R the reflection matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* reflection will be applied first!
*
* @param nx
* the x-coordinate of the plane normal
* @param ny
* the y-coordinate of the plane normal
* @param nz
* the z-coordinate of the plane normal
* @param px
* the x-coordinate of a point on the plane
* @param py
* the y-coordinate of a point on the plane
* @param pz
* the z-coordinate of a point on the plane
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d reflect(double nx, double ny, double nz, double px, double py, double pz, Matrix4x3d dest);
/**
* Apply a mirror/reflection transformation to this matrix that reflects about a plane
* specified via the plane orientation and a point on the plane, and store the result in dest.
*
* This method can be used to build a reflection transformation based on the orientation of a mirror object in the scene.
* It is assumed that the default mirror plane's normal is (0, 0, 1). So, if the given {@link Quaterniondc} is
* the identity (does not apply any additional rotation), the reflection plane will be z=0, offset by the given point.
*
* If M is this matrix and R the reflection matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* reflection will be applied first!
*
* @param orientation
* the plane orientation
* @param point
* a point on the plane
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d reflect(Quaterniondc orientation, Vector3dc point, Matrix4x3d dest);
/**
* Apply a mirror/reflection transformation to this matrix that reflects about the given plane
* specified via the plane normal and a point on the plane, and store the result in dest.
*
* If M is this matrix and R the reflection matrix,
* then the new matrix will be M * R. So when transforming a
* vector v with the new matrix by using M * R * v, the
* reflection will be applied first!
*
* @param normal
* the plane normal
* @param point
* a point on the plane
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d reflect(Vector3dc normal, Vector3dc point, Matrix4x3d dest);
/**
* Apply an orthographic projection transformation for a right-handed coordinate system
* using the given NDC z range to this matrix and store the result in dest.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true
* or whether to use OpenGL's NDC z range of [-1..+1] when false
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d ortho(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d dest);
/**
* Apply an orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d ortho(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4x3d dest);
/**
* Apply an orthographic projection transformation for a left-handed coordiante system
* using the given NDC z range to this matrix and store the result in dest.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true
* or whether to use OpenGL's NDC z range of [-1..+1] when false
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d dest);
/**
* Apply an orthographic projection transformation for a left-handed coordiante system
* using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d orthoLH(double left, double right, double bottom, double top, double zNear, double zFar, Matrix4x3d dest);
/**
* Apply a symmetric orthographic projection transformation for a right-handed coordinate system
* using the given NDC z range to this matrix and store the result in dest.
*
* This method is equivalent to calling {@link #ortho(double, double, double, double, double, double, boolean, Matrix4x3d) ortho()} with
* left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true
* or whether to use OpenGL's NDC z range of [-1..+1] when false
* @return dest
*/
Matrix4x3d orthoSymmetric(double width, double height, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d dest);
/**
* Apply a symmetric orthographic projection transformation for a right-handed coordinate system
* using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
*
* This method is equivalent to calling {@link #ortho(double, double, double, double, double, double, Matrix4x3d) ortho()} with
* left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d orthoSymmetric(double width, double height, double zNear, double zFar, Matrix4x3d dest);
/**
* Apply a symmetric orthographic projection transformation for a left-handed coordinate system
* using the given NDC z range to this matrix and store the result in dest.
*
* This method is equivalent to calling {@link #orthoLH(double, double, double, double, double, double, boolean, Matrix4x3d) orthoLH()} with
* left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @param zZeroToOne
* whether to use Vulkan's and Direct3D's NDC z range of [0..+1] when true
* or whether to use OpenGL's NDC z range of [-1..+1] when false
* @return dest
*/
Matrix4x3d orthoSymmetricLH(double width, double height, double zNear, double zFar, boolean zZeroToOne, Matrix4x3d dest);
/**
* Apply a symmetric orthographic projection transformation for a left-handed coordinate system
* using OpenGL's NDC z range of [-1..+1] to this matrix and store the result in dest.
*
* This method is equivalent to calling {@link #orthoLH(double, double, double, double, double, double, Matrix4x3d) orthoLH()} with
* left=-width/2, right=+width/2, bottom=-height/2 and top=+height/2.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @param width
* the distance between the right and left frustum edges
* @param height
* the distance between the top and bottom frustum edges
* @param zNear
* near clipping plane distance
* @param zFar
* far clipping plane distance
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d orthoSymmetricLH(double width, double height, double zNear, double zFar, Matrix4x3d dest);
/**
* Apply an orthographic projection transformation for a right-handed coordinate system
* to this matrix and store the result in dest.
*
* This method is equivalent to calling {@link #ortho(double, double, double, double, double, double, Matrix4x3d) ortho()} with
* zNear=-1 and zFar=+1.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @see #ortho(double, double, double, double, double, double, Matrix4x3d)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d ortho2D(double left, double right, double bottom, double top, Matrix4x3d dest);
/**
* Apply an orthographic projection transformation for a left-handed coordinate system to this matrix and store the result in dest.
*
* This method is equivalent to calling {@link #orthoLH(double, double, double, double, double, double, Matrix4x3d) orthoLH()} with
* zNear=-1 and zFar=+1.
*
* If M is this matrix and O the orthographic projection matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* orthographic projection transformation will be applied first!
*
* Reference: http://www.songho.ca
*
* @see #orthoLH(double, double, double, double, double, double, Matrix4x3d)
*
* @param left
* the distance from the center to the left frustum edge
* @param right
* the distance from the center to the right frustum edge
* @param bottom
* the distance from the center to the bottom frustum edge
* @param top
* the distance from the center to the top frustum edge
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d ortho2DLH(double left, double right, double bottom, double top, Matrix4x3d dest);
/**
* Apply a rotation transformation to this matrix to make -z point along dir
* and store the result in dest.
*
* If M is this matrix and L the lookalong rotation matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v, the
* lookalong rotation transformation will be applied first!
*
* This is equivalent to calling
* {@link #lookAt(Vector3dc, Vector3dc, Vector3dc, Matrix4x3d) lookAt}
* with eye = (0, 0, 0) and center = dir.
*
* @see #lookAlong(double, double, double, double, double, double, Matrix4x3d)
* @see #lookAt(Vector3dc, Vector3dc, Vector3dc, Matrix4x3d)
*
* @param dir
* the direction in space to look along
* @param up
* the direction of 'up'
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d lookAlong(Vector3dc dir, Vector3dc up, Matrix4x3d dest);
/**
* Apply a rotation transformation to this matrix to make -z point along dir
* and store the result in dest.
*
* If M is this matrix and L the lookalong rotation matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v, the
* lookalong rotation transformation will be applied first!
*
* This is equivalent to calling
* {@link #lookAt(double, double, double, double, double, double, double, double, double, Matrix4x3d) lookAt()}
* with eye = (0, 0, 0) and center = dir.
*
* @see #lookAt(double, double, double, double, double, double, double, double, double, Matrix4x3d)
*
* @param dirX
* the x-coordinate of the direction to look along
* @param dirY
* the y-coordinate of the direction to look along
* @param dirZ
* the z-coordinate of the direction to look along
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d lookAlong(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix4x3d dest);
/**
* Apply a "lookat" transformation to this matrix for a right-handed coordinate system,
* that aligns -z with center - eye and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* @see #lookAt(double, double, double, double, double, double, double, double, double, Matrix4x3d)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d lookAt(Vector3dc eye, Vector3dc center, Vector3dc up, Matrix4x3d dest);
/**
* Apply a "lookat" transformation to this matrix for a right-handed coordinate system,
* that aligns -z with center - eye and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* @see #lookAt(Vector3dc, Vector3dc, Vector3dc, Matrix4x3d)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d lookAt(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4x3d dest);
/**
* Apply a "lookat" transformation to this matrix for a left-handed coordinate system,
* that aligns +z with center - eye and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* @see #lookAtLH(double, double, double, double, double, double, double, double, double, Matrix4x3d)
*
* @param eye
* the position of the camera
* @param center
* the point in space to look at
* @param up
* the direction of 'up'
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d lookAtLH(Vector3dc eye, Vector3dc center, Vector3dc up, Matrix4x3d dest);
/**
* Apply a "lookat" transformation to this matrix for a left-handed coordinate system,
* that aligns +z with center - eye and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* @see #lookAtLH(Vector3dc, Vector3dc, Vector3dc, Matrix4x3d)
*
* @param eyeX
* the x-coordinate of the eye/camera location
* @param eyeY
* the y-coordinate of the eye/camera location
* @param eyeZ
* the z-coordinate of the eye/camera location
* @param centerX
* the x-coordinate of the point to look at
* @param centerY
* the y-coordinate of the point to look at
* @param centerZ
* the z-coordinate of the point to look at
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d lookAtLH(double eyeX, double eyeY, double eyeZ, double centerX, double centerY, double centerZ, double upX, double upY, double upZ, Matrix4x3d dest);
/**
* Calculate a frustum plane of this matrix, which
* can be a projection matrix or a combined modelview-projection matrix, and store the result
* in the given plane.
*
* Generally, this method computes the frustum plane in the local frame of
* any coordinate system that existed before this
* transformation was applied to it in order to yield homogeneous clipping space.
*
* The plane normal, which is (a, b, c), is directed "inwards" of the frustum.
* Any plane/point test using a*x + b*y + c*z + d therefore will yield a result greater than zero
* if the point is within the frustum (i.e. at the positive side of the frustum plane).
*
* Reference:
* Fast Extraction of Viewing Frustum Planes from the World-View-Projection Matrix
*
* @param which
* one of the six possible planes, given as numeric constants
* {@link #PLANE_NX}, {@link #PLANE_PX},
* {@link #PLANE_NY}, {@link #PLANE_PY},
* {@link #PLANE_NZ} and {@link #PLANE_PZ}
* @param plane
* will hold the computed plane equation.
* The plane equation will be normalized, meaning that (a, b, c) will be a unit vector
* @return planeEquation
*/
Planed frustumPlane(int which, Planed plane);
/**
* Obtain the direction of +Z before the transformation represented by this matrix is applied.
*
* This method uses the rotation component of the left 3x3 submatrix to obtain the direction
* that is transformed to +Z by this matrix.
*
* This method is equivalent to the following code:
*
* Matrix4x3d inv = new Matrix4x3d(this).invert();
* inv.transformDirection(dir.set(0, 0, 1)).normalize();
*
* If this is already an orthogonal matrix, then consider using {@link #normalizedPositiveZ(Vector3d)} instead.
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Z
* @return dir
*/
Vector3d positiveZ(Vector3d dir);
/**
* Obtain the direction of +Z before the transformation represented by this orthogonal matrix is applied.
* This method only produces correct results if this is an orthogonal matrix.
*
* This method uses the rotation component of the left 3x3 submatrix to obtain the direction
* that is transformed to +Z by this matrix.
*
* This method is equivalent to the following code:
*
* Matrix4x3d inv = new Matrix4x3d(this).transpose();
* inv.transformDirection(dir.set(0, 0, 1)).normalize();
*
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Z
* @return dir
*/
Vector3d normalizedPositiveZ(Vector3d dir);
/**
* Obtain the direction of +X before the transformation represented by this matrix is applied.
*
* This method uses the rotation component of the left 3x3 submatrix to obtain the direction
* that is transformed to +X by this matrix.
*
* This method is equivalent to the following code:
*
* Matrix4x3d inv = new Matrix4x3d(this).invert();
* inv.transformDirection(dir.set(1, 0, 0)).normalize();
*
* If this is already an orthogonal matrix, then consider using {@link #normalizedPositiveX(Vector3d)} instead.
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +X
* @return dir
*/
Vector3d positiveX(Vector3d dir);
/**
* Obtain the direction of +X before the transformation represented by this orthogonal matrix is applied.
* This method only produces correct results if this is an orthogonal matrix.
*
* This method uses the rotation component of the left 3x3 submatrix to obtain the direction
* that is transformed to +X by this matrix.
*
* This method is equivalent to the following code:
*
* Matrix4x3d inv = new Matrix4x3d(this).transpose();
* inv.transformDirection(dir.set(1, 0, 0)).normalize();
*
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +X
* @return dir
*/
Vector3d normalizedPositiveX(Vector3d dir);
/**
* Obtain the direction of +Y before the transformation represented by this matrix is applied.
*
* This method uses the rotation component of the left 3x3 submatrix to obtain the direction
* that is transformed to +Y by this matrix.
*
* This method is equivalent to the following code:
*
* Matrix4x3d inv = new Matrix4x3d(this).invert();
* inv.transformDirection(dir.set(0, 1, 0)).normalize();
*
* If this is already an orthogonal matrix, then consider using {@link #normalizedPositiveY(Vector3d)} instead.
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Y
* @return dir
*/
Vector3d positiveY(Vector3d dir);
/**
* Obtain the direction of +Y before the transformation represented by this orthogonal matrix is applied.
* This method only produces correct results if this is an orthogonal matrix.
*
* This method uses the rotation component of the left 3x3 submatrix to obtain the direction
* that is transformed to +Y by this matrix.
*
* This method is equivalent to the following code:
*
* Matrix4x3d inv = new Matrix4x3d(this).transpose();
* inv.transformDirection(dir.set(0, 1, 0)).normalize();
*
*
* Reference: http://www.euclideanspace.com
*
* @param dir
* will hold the direction of +Y
* @return dir
*/
Vector3d normalizedPositiveY(Vector3d dir);
/**
* Obtain the position that gets transformed to the origin by this matrix.
* This can be used to get the position of the "camera" from a given view transformation matrix.
*
* This method is equivalent to the following code:
*
* Matrix4x3f inv = new Matrix4x3f(this).invert();
* inv.transformPosition(origin.set(0, 0, 0));
*
*
* @param origin
* will hold the position transformed to the origin
* @return origin
*/
Vector3d origin(Vector3d origin);
/**
* Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation
* x*a + y*b + z*c + d = 0 as if casting a shadow from a given light position/direction light
* and store the result in dest.
*
* If light.w is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.
*
* If M is this matrix and S the shadow matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* reflection will be applied first!
*
* Reference: ftp.sgi.com
*
* @param light
* the light's vector
* @param a
* the x factor in the plane equation
* @param b
* the y factor in the plane equation
* @param c
* the z factor in the plane equation
* @param d
* the constant in the plane equation
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d shadow(Vector4dc light, double a, double b, double c, double d, Matrix4x3d dest);
/**
* Apply a projection transformation to this matrix that projects onto the plane specified via the general plane equation
* x*a + y*b + z*c + d = 0 as if casting a shadow from a given light position/direction (lightX, lightY, lightZ, lightW)
* and store the result in dest.
*
* If lightW is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.
*
* If M is this matrix and S the shadow matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* reflection will be applied first!
*
* Reference: ftp.sgi.com
*
* @param lightX
* the x-component of the light's vector
* @param lightY
* the y-component of the light's vector
* @param lightZ
* the z-component of the light's vector
* @param lightW
* the w-component of the light's vector
* @param a
* the x factor in the plane equation
* @param b
* the y factor in the plane equation
* @param c
* the z factor in the plane equation
* @param d
* the constant in the plane equation
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d shadow(double lightX, double lightY, double lightZ, double lightW, double a, double b, double c, double d, Matrix4x3d dest);
/**
* Apply a projection transformation to this matrix that projects onto the plane with the general plane equation
* y = 0 as if casting a shadow from a given light position/direction light
* and store the result in dest.
*
* Before the shadow projection is applied, the plane is transformed via the specified planeTransformation.
*
* If light.w is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.
*
* If M is this matrix and S the shadow matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* reflection will be applied first!
*
* @param light
* the light's vector
* @param planeTransform
* the transformation to transform the implied plane y = 0 before applying the projection
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d shadow(Vector4dc light, Matrix4x3dc planeTransform, Matrix4x3d dest);
/**
* Apply a projection transformation to this matrix that projects onto the plane with the general plane equation
* y = 0 as if casting a shadow from a given light position/direction (lightX, lightY, lightZ, lightW)
* and store the result in dest.
*
* Before the shadow projection is applied, the plane is transformed via the specified planeTransformation.
*
* If lightW is 0.0 the light is being treated as a directional light; if it is 1.0 it is a point light.
*
* If M is this matrix and S the shadow matrix,
* then the new matrix will be M * S. So when transforming a
* vector v with the new matrix by using M * S * v, the
* reflection will be applied first!
*
* @param lightX
* the x-component of the light vector
* @param lightY
* the y-component of the light vector
* @param lightZ
* the z-component of the light vector
* @param lightW
* the w-component of the light vector
* @param planeTransform
* the transformation to transform the implied plane y = 0 before applying the projection
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d shadow(double lightX, double lightY, double lightZ, double lightW, Matrix4x3dc planeTransform, Matrix4x3d dest);
/**
* Apply a picking transformation to this matrix using the given window coordinates (x, y) as the pick center
* and the given (width, height) as the size of the picking region in window coordinates, and store the result
* in dest.
*
* @param x
* the x coordinate of the picking region center in window coordinates
* @param y
* the y coordinate of the picking region center in window coordinates
* @param width
* the width of the picking region in window coordinates
* @param height
* the height of the picking region in window coordinates
* @param viewport
* the viewport described by [x, y, width, height]
* @param dest
* the destination matrix, which will hold the result
* @return dest
*/
Matrix4x3d pick(double x, double y, double width, double height, int[] viewport, Matrix4x3d dest);
/**
* Apply an arcball view transformation to this matrix with the given radius and center (centerX, centerY, centerZ)
* position of the arcball and the specified X and Y rotation angles, and store the result in dest.
*
* This method is equivalent to calling: translate(0, 0, -radius).rotateX(angleX).rotateY(angleY).translate(-centerX, -centerY, -centerZ)
*
* @param radius
* the arcball radius
* @param centerX
* the x coordinate of the center position of the arcball
* @param centerY
* the y coordinate of the center position of the arcball
* @param centerZ
* the z coordinate of the center position of the arcball
* @param angleX
* the rotation angle around the X axis in radians
* @param angleY
* the rotation angle around the Y axis in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d arcball(double radius, double centerX, double centerY, double centerZ, double angleX, double angleY, Matrix4x3d dest);
/**
* Apply an arcball view transformation to this matrix with the given radius and center
* position of the arcball and the specified X and Y rotation angles, and store the result in dest.
*
* This method is equivalent to calling: translate(0, 0, -radius).rotateX(angleX).rotateY(angleY).translate(-center.x, -center.y, -center.z)
*
* @param radius
* the arcball radius
* @param center
* the center position of the arcball
* @param angleX
* the rotation angle around the X axis in radians
* @param angleY
* the rotation angle around the Y axis in radians
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d arcball(double radius, Vector3dc center, double angleX, double angleY, Matrix4x3d dest);
/**
* Transform the axis-aligned box given as the minimum corner (minX, minY, minZ) and maximum corner (maxX, maxY, maxZ)
* by this matrix and compute the axis-aligned box of the result whose minimum corner is stored in outMin
* and maximum corner stored in outMax.
*
* Reference: http://dev.theomader.com
*
* @param minX
* the x coordinate of the minimum corner of the axis-aligned box
* @param minY
* the y coordinate of the minimum corner of the axis-aligned box
* @param minZ
* the z coordinate of the minimum corner of the axis-aligned box
* @param maxX
* the x coordinate of the maximum corner of the axis-aligned box
* @param maxY
* the y coordinate of the maximum corner of the axis-aligned box
* @param maxZ
* the y coordinate of the maximum corner of the axis-aligned box
* @param outMin
* will hold the minimum corner of the resulting axis-aligned box
* @param outMax
* will hold the maximum corner of the resulting axis-aligned box
* @return this
*/
Matrix4x3d transformAab(double minX, double minY, double minZ, double maxX, double maxY, double maxZ, Vector3d outMin, Vector3d outMax);
/**
* Transform the axis-aligned box given as the minimum corner min and maximum corner max
* by this matrix and compute the axis-aligned box of the result whose minimum corner is stored in outMin
* and maximum corner stored in outMax.
*
* @param min
* the minimum corner of the axis-aligned box
* @param max
* the maximum corner of the axis-aligned box
* @param outMin
* will hold the minimum corner of the resulting axis-aligned box
* @param outMax
* will hold the maximum corner of the resulting axis-aligned box
* @return this
*/
Matrix4x3d transformAab(Vector3dc min, Vector3dc max, Vector3d outMin, Vector3d outMax);
/**
* Linearly interpolate this and other using the given interpolation factor t
* and store the result in dest.
*
* If t is 0.0 then the result is this. If the interpolation factor is 1.0
* then the result is other.
*
* @param other
* the other matrix
* @param t
* the interpolation factor between 0.0 and 1.0
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d lerp(Matrix4x3dc other, double t, Matrix4x3d dest);
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the -z axis with dir
* and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* This method is equivalent to calling: mul(new Matrix4x3d().lookAt(new Vector3d(), new Vector3d(dir).negate(), up).invert(), dest)
*
* @see #rotateTowards(double, double, double, double, double, double, Matrix4x3d)
*
* @param dir
* the direction to rotate towards
* @param up
* the up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateTowards(Vector3dc dir, Vector3dc up, Matrix4x3d dest);
/**
* Apply a model transformation to this matrix for a right-handed coordinate system,
* that aligns the -z axis with (dirX, dirY, dirZ)
* and store the result in dest.
*
* If M is this matrix and L the lookat matrix,
* then the new matrix will be M * L. So when transforming a
* vector v with the new matrix by using M * L * v,
* the lookat transformation will be applied first!
*
* This method is equivalent to calling: mul(new Matrix4x3d().lookAt(0, 0, 0, -dirX, -dirY, -dirZ, upX, upY, upZ).invert(), dest)
*
* @see #rotateTowards(Vector3dc, Vector3dc, Matrix4x3d)
*
* @param dirX
* the x-coordinate of the direction to rotate towards
* @param dirY
* the y-coordinate of the direction to rotate towards
* @param dirZ
* the z-coordinate of the direction to rotate towards
* @param upX
* the x-coordinate of the up vector
* @param upY
* the y-coordinate of the up vector
* @param upZ
* the z-coordinate of the up vector
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d rotateTowards(double dirX, double dirY, double dirZ, double upX, double upY, double upZ, Matrix4x3d dest);
/**
* Extract the Euler angles from the rotation represented by the left 3x3 submatrix of this
* and store the extracted Euler angles in dest.
*
* This method assumes that the left 3x3 submatrix of this only represents a rotation without scaling.
*
* Note that the returned Euler angles must be applied in the order Z * Y * X to obtain the identical matrix.
* This means that calling {@link Matrix4x3d#rotateZYX(double, double, double)} using the obtained Euler angles will yield
* the same rotation as the original matrix from which the Euler angles were obtained, so in the below code the matrix
* m2 should be identical to m (disregarding possible floating-point inaccuracies).
*
* Matrix4x3d m = ...; // <- matrix only representing rotation
* Matrix4x3d n = new Matrix4x3d();
* n.rotateZYX(m.getEulerAnglesZYX(new Vector3d()));
*
*
* Reference: http://nghiaho.com/
*
* @param dest
* will hold the extracted Euler angles
* @return dest
*/
Vector3d getEulerAnglesZYX(Vector3d dest);
/**
* Apply an oblique projection transformation to this matrix with the given values for a and
* b and store the result in dest.
*
* If M is this matrix and O the oblique transformation matrix,
* then the new matrix will be M * O. So when transforming a
* vector v with the new matrix by using M * O * v, the
* oblique transformation will be applied first!
*
* The oblique transformation is defined as:
*
* x' = x + a*z
* y' = y + a*z
* z' = z
*
* or in matrix form:
*
* 1 0 a 0
* 0 1 b 0
* 0 0 1 0
*
*
* @param a
* the value for the z factor that applies to x
* @param b
* the value for the z factor that applies to y
* @param dest
* will hold the result
* @return dest
*/
Matrix4x3d obliqueZ(double a, double b, Matrix4x3d dest);
/**
* Compare the matrix elements of this matrix with the given matrix using the given delta
* and return whether all of them are equal within a maximum difference of delta.
*
* Please note that this method is not used by any data structure such as {@link ArrayList} {@link HashSet} or {@link HashMap}
* and their operations, such as {@link ArrayList#contains(Object)} or {@link HashSet#remove(Object)}, since those
* data structures only use the {@link Object#equals(Object)} and {@link Object#hashCode()} methods.
*
* @param m
* the other matrix
* @param delta
* the allowed maximum difference
* @return true whether all of the matrix elements are equal; false otherwise
*/
boolean equals(Matrix4x3dc m, double delta);
/**
* Determine whether all matrix elements are finite floating-point values, that
* is, they are not {@link Double#isNaN() NaN} and not
* {@link Double#isInfinite() infinity}.
*
* @return {@code true} if all components are finite floating-point values;
* {@code false} otherwise
*/
boolean isFinite();
}